An Adaptive Control Using Fuzzy Basis Function Expansions for a Class of Nonlinear Systems

  • Authors:

  • Man Zhihong;X. H. Yu

  • Affiliations:

  • Department of Electrical Engineering and Computer Science, University of Tasmania, Hobart 7001, Australia/ e-mail: zhihong.man@eee.utas.edu.au;Department of Mathematics and Computing, Central Queensland University, QLD 4702, Australia

  • Venue:
  • Journal of Intelligent and Robotic Systems
  • Year:
  • 1998

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Abstract

An adaptive control using fuzzy basis function expansions is proposed fora class of nonlinear systems in this paper. It is shown that two systemuncertainty bounds are approximated in a compact set by using fuzzy basisfunction expansion networks in the Lyapunov sense, and the outputs of thefuzzy networks are then used as the parameters of the controller toadaptively compensate for the effects of system uncertainties. Using thisscheme, not only strong robustness with respect to unknown system dynamicsand nonlinearities can be obtained, but also the output tracking errorbetween the plant output and the desired reference output can be guaranteedto asymptotically converge to zero. Simulation results are provided todemonstrate the effectiveness, simplicity and practicality of the proposedcontrol scheme.